CN113601517B

CN113601517B - Nurse robot

Info

Publication number: CN113601517B
Application number: CN202110714535.5A
Authority: CN
Inventors: 郭士杰; 卢浩; 杨志强; 陈力
Original assignee: Guanghua Lingang Engineering Application Technology Research and Development Shanghai Co Ltd
Current assignee: Guanghua Lingang Engineering Application Technology Research and Development Shanghai Co Ltd
Priority date: 2021-06-25
Filing date: 2021-06-25
Publication date: 2023-03-24
Anticipated expiration: 2041-06-25
Also published as: WO2022267234A1; CN113601517A

Abstract

The invention belongs to the technical field of rehabilitation medicine, and particularly relates to a nurse robot which comprises a movable base assembly, a front-back pitching assembly, a left-right swinging assembly, a thoracic cavity frame and upper limb assemblies, wherein the upper limb assemblies are arranged on the left side and the right side of the thoracic cavity frame; the front-back pitching assembly comprises a pitching driving motor, a pitching driving belt wheel connected with an output shaft of the pitching driving motor, a pitching driven belt wheel connected with the pitching driving belt wheel through belt transmission, a pitching worm rod coaxially connected with the pitching driven belt wheel, a pitching worm wheel meshed with the pitching worm and a pitching shaft fixedly connected to the pitching worm wheel; the rotating shafts of the pitching worm gear and the swinging worm gear are vertical to each other. The invention can realize forward pitching and backward pitching of the nurse robot through the front-back pitching assembly, can realize the leftward-rightward swinging of the waist of the nurse robot through the leftward-rightward swinging assembly, can realize the holding, medicine delivery, meal delivery and the like of a patient through the upper limb assembly, and can finish general nursing and monitoring the state of the patient.

Description

Nurse robot

Technical Field

The invention belongs to the technical field of rehabilitation medical treatment, and particularly relates to a nurse robot.

Background

When serious infectious diseases and emergent public health incidents occur, medical staff are often infected, so that the problems of cross infection of patients, difficult effective control of isolated environment and the like are caused. In order to solve the problems of difficult problems and insufficient nurses, the remote operation nurse robot is researched, and the nurse robot is developed and provided with the functions of disinfection, monitoring of the health state of a patient, supporting the patient in a supporting manner, assisting in moving, sending rice (water) and medicine, feeding rice (water) and medicine, replacing infusion bags, living care, pushing a wheelchair, emotional accompanying and nursing and the like, and meets the care requirements of the patient in the multi-mode environment in an infectious ward. The medical monitoring system is of great importance to solve the problems that medical staff are insufficient during the outbreak of epidemic situation, necessary care cannot be provided for patients, 24-hour seamless monitoring cannot be achieved, and the like, and has great social significance. On the other hand, the robot nurse is more favorable to the patient case history management and the accumulation, the arrangement and the transmission of medical data, and has important significance for improving the medical intelligent level. The nurse robot can also be used in places such as ordinary wards, families, nursing institutions and the like, and can effectively solve the problem of insufficient hands for nursing the aged people under the background of aging of the population in China, thereby reducing the burden of children and improving the life quality of the aged people.

Disclosure of Invention

The invention aims to overcome the defects of medical care personnel in the prior art and the problem that cross infection is easily generated between patients and medical care personnel, and provides a nurse robot.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a nurse robot, characterized in that: the method comprises the following steps: the movable base component, the front-back pitching component, the left-right swinging component, the thoracic cavity frame and the upper limb components arranged on the left side and the right side of the thoracic cavity frame; the movable base assembly is fixedly provided with a pitching support, and the front and back pitching assembly comprises a pitching driving motor arranged on the pitching support, a pitching driving belt wheel connected to an output shaft of the pitching driving motor, a pitching driven belt wheel in transmission connection with the pitching driving belt wheel through a belt, a pitching worm rod coaxially connected with the pitching driven belt wheel, a pitching worm wheel meshed with the pitching worm and a pitching shaft fixedly connected to the pitching worm wheel; the left-right swinging assembly comprises a swinging motor, a swinging driving belt wheel, a swinging driven belt wheel, a swinging worm and a swinging shaft, wherein the swinging motor is arranged on the swinging support through a motor support; the swing bracket is rotatably connected with a second connecting frame through a swing shaft, and the swing shaft is arranged on the swing bracket through a bearing; and the rotating shafts of the pitching worm gear and the swinging worm gear are mutually vertical.

Furthermore, a third connecting frame is fixedly arranged on the second connecting frame, a driver is arranged in the third connecting frame, a fourth connecting frame is fixedly arranged on the third connecting frame, mounting stop blocks are arranged on the front side and the rear side of the center of the upper end of the fourth connecting frame, and first butting faces inclined from the middle to the left side and the right side are symmetrically arranged on two sides of each mounting stop block; a thoracic cavity frame is arranged on the upper side surface of the fourth connecting frame, a second butt joint surface with the same inclination angle as the first butt joint surface is arranged on the lower side surface of the thoracic cavity frame, and the middle position of the lower side of the thoracic cavity frame is arranged between the two mounting stop blocks and is fixed on the fourth connecting frame through a bolt; the two second butt joint surfaces are arranged on the left side and the right side of the mounting stop block.

Further, the upper limb assembly comprises: the shoulder joint assembly, the first big arm connecting frame, the second big arm connecting frame, the elbow joint assembly, the first small arm connecting frame, the second small arm connecting frame and the hand part; the shoulder joint assembly includes: a first shoulder joint motor installed in the thoracic cavity frame, a first driving gear installed on an output shaft of the first shoulder joint motor, a first driven gear engaged with the first driving gear, a first shoulder joint worm coaxially connected with the first driven gear, a first shoulder joint worm engaged with the first shoulder joint worm, a first shoulder joint driving bevel gear coaxially connected with the first shoulder joint worm, a second shoulder joint motor installed in the thoracic cavity frame, a second driving gear installed on an output shaft of the second shoulder joint motor, a second driven gear engaged with the second driving gear, a second shoulder joint worm coaxially connected with the second driven gear, a second shoulder joint worm engaged with the second shoulder joint worm, a second shoulder joint driving bevel gear coaxially connected with the second shoulder joint worm, and a first shoulder joint driven bevel gear engaged with the first shoulder joint driving bevel gear and the second shoulder joint driving bevel gear; the first shoulder joint driving bevel gear and the second shoulder joint driving bevel gear are oppositely arranged on the first shoulder joint rotating shaft through bearings. The first shoulder joint rotating shaft is fixedly connected with the upper end and the lower end of the thoracic cavity frame, and the first shoulder joint driven bevel gear is positioned between the first shoulder joint driving bevel gear and the second shoulder joint driving bevel gear; the first shoulder joint connecting frame is rotatably arranged at two ends of the first shoulder joint rotating shaft through bearings.

Furthermore, the surface of the upper end of the thoracic cavity frame, which is used for being in butt joint with the first shoulder joint connecting frame, is a shoulder joint installation inclined surface which is inclined downwards from the middle to the left side and the right side, and the shoulder joint installation inclined surface is parallel to the second butt joint surface.

Further, the second shoulder joint connecting frame is fixedly arranged on a rotating shaft of the driven bevel gear of the first shoulder joint, and the shoulder joint component further comprises: the third shoulder joint motor is arranged in a second shoulder joint connecting frame, the third shoulder joint driving pulley is arranged on an output shaft of the third shoulder joint motor, the third shoulder joint driven pulley is in belt transmission connection with the third shoulder joint driving pulley, the third shoulder joint driving bevel gear is in coaxial connection with the third shoulder joint driven pulley, the third shoulder joint driven bevel gear is meshed with the third shoulder joint driving bevel gear, the fourth shoulder joint motor is arranged in a second shoulder joint connecting frame, the fourth shoulder joint driving pulley is arranged on an output shaft of the fourth shoulder joint motor, the fourth shoulder joint driven pulley is in belt transmission connection with the fourth shoulder joint driving pulley, the fourth shoulder joint driving bevel gear is in coaxial connection with the fourth shoulder joint driven pulley, the fourth shoulder joint driven bevel gear is meshed with the fourth shoulder joint driving bevel gear, and the fifth shoulder joint driven bevel gear is meshed with the third shoulder joint driven bevel gear and the fourth shoulder joint driven bevel gear.

Further, the third shoulder joint driving bevel gear and the fourth shoulder joint driving bevel gear are oppositely arranged and are both installed on the second shoulder joint rotating shaft through bearings, and the fifth shoulder joint driven bevel gear is clamped between the third shoulder joint driven bevel gear and the fourth shoulder joint driven bevel gear; the first large arm connecting frame is rotatably connected to the tail end of the second shoulder joint connecting frame, a second shoulder joint rotating shaft is fixedly connected with the second shoulder joint connecting frame, the first large arm connecting frame is rotatably installed on the second shoulder joint rotating shaft through a bearing, and the second large arm connecting frame is fixedly connected with a rotating shaft of a fifth shoulder joint driven bevel gear.

Further, the elbow joint assembly includes: a first elbow joint motor arranged in a second big arm connecting frame, a first elbow joint driving belt wheel connected with an output shaft of the first elbow joint motor, a first elbow joint driven belt wheel connected with the first elbow joint driving belt wheel through a belt, a first elbow joint driving bevel gear coaxially connected with the first elbow joint driven belt wheel, a first elbow joint driven bevel gear meshed with the first elbow joint driving bevel gear, a second elbow joint motor arranged in a second big arm connecting frame, a second elbow joint driving belt wheel connected with an output shaft of the second elbow joint motor, a second elbow joint driven belt wheel connected with the second elbow joint driving belt wheel through a belt, a second elbow joint driving bevel gear coaxially connected with the second elbow joint driven belt wheel, a second elbow joint driven bevel gear meshed with the second elbow joint driving bevel gear, and a third elbow joint driven bevel gear meshed with the first elbow joint driven bevel gear and the second elbow joint driven bevel gear; the lower extreme of the big arm of second is rotated and is connected with first forearm and links the frame, and first elbow joint driven bevel gear and second elbow joint driven bevel gear rotate and install in same elbow joint pivot, and elbow joint pivot and the big arm of second link a fixed connection, and the both ends of elbow joint pivot are passed through the bearing and are rotated and install on first forearm links the frame, third elbow joint driven bevel gear is located between first elbow joint driven bevel gear and the second elbow joint driven bevel gear.

Furthermore, a second forearm connecting frame is fixedly connected to a rotating shaft of the second elbow joint driven bevel gear, and the tail end of the second forearm connecting frame is rotatably connected with a hand.

Furthermore, the central position of the upper end of the chest rack is a plane and is provided with a head assembly, and the head assembly is provided with a camera.

Furthermore, the locating slot is arranged on the first connecting frame, the swing support comprises four first supporting plates, a second supporting plate, a third supporting plate and a fourth supporting plate which are arranged in parallel, the lower ends of the four supporting plates are provided with locating strips, and the four supporting plates are fixed together with the first connecting frame through bolts after the locating strips are clamped to the locating slot at the correct position.

The nurse robot has the advantages that:

1. the front pitching assembly can realize the forward pitching backward tilting of the nurse robot, the leftward and rightward swinging assembly can realize the leftward and rightward swinging of the waist of the nurse robot, the upper limb assembly can realize the holding, medicine delivery, meal delivery and the like of a patient, and the general nursing and patient monitoring states can be completed for the patient.

2. The actuating mechanism of shoulder joint installs in the inside of thorax frame and the inside of linking frame of first big arm, and the actuating mechanism of elbow joint installs in the inside of linking frame of first forearm, guarantees that the outward appearance of nurse's robot does not have outstanding structure, reduces the volume of robot, wraps artificial skin and produces affinity sense and comfort for patient when nursing patient after.

3. The upper end of the chest rack is provided with a shoulder joint installation inclined plane, which is more similar to a mechanism at the shoulder of a human body to ensure that the arm movement is more flexible.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

FIG. 1 is an overall perspective view of an embodiment of the present invention;

FIG. 2 is a perspective view of a pitch assembly of an embodiment of the present invention;

FIG. 3 is a perspective view of a yaw assembly of an embodiment of the present invention;

FIG. 4 is a rear perspective view of a default portion of the components of the yaw assembly in accordance with an embodiment of the present invention;

FIG. 5 is a drawing of the components near the chest frame of an embodiment of the present invention;

FIG. 6 is a partial block diagram of a shoulder joint assembly of an embodiment of the present invention;

FIG. 7 is a partial block diagram of a wrist assembly according to an embodiment of the invention;

FIG. 8 is a perspective view of a swing bracket of an embodiment of the present invention;

fig. 9 is a diagram showing a fourth link structure according to the embodiment of the present invention.

In the figure: 1, mecanum wheel, 2, pitch bracket, 3, pitch driving motor, 4, pitch driving pulley, 5, pitch driven pulley, 6, pitch worm, 7, pitch worm gear, 8, pitch shaft, 9, first link, 91, positioning groove, 10, swing bracket, 11, first support plate, 12, second support plate, 13, third support plate, 14, fourth support plate, 15, positioning bar, 16, swing motor, 17, swing driving pulley, 18, swing driven pulley, 19, swing worm, 20, swing worm gear, 21, swing shaft, 22, second link, 23, third link, 24, fourth link, 241, mounting block, 242, first shoulder joint face, 25, thoracic frame, 251, second joint face, 253, shoulder joint mounting ramp, 26, first shoulder joint motor, 27, first driving gear, 28, first driven gear, 29, a first shoulder joint worm, 30, a first shoulder joint worm gear, 31, a first shoulder joint drive bevel gear, 32, a second shoulder joint motor, 34, a second driven gear, 35, a second shoulder joint worm, 36, a second shoulder joint worm gear, 37, a second shoulder joint drive bevel gear, 38, a first shoulder joint driven bevel gear, 39, a first shoulder joint shaft, 40, a first shoulder joint link, 41, a head assembly, 42, a second shoulder joint link, 43, a third shoulder joint motor, 44, a third shoulder joint drive pulley, 45, a third shoulder joint driven pulley, 46, a third shoulder joint drive bevel gear, 47, a third shoulder joint driven bevel gear, 48, a fourth shoulder joint motor, 49, a fourth shoulder joint drive pulley, 50, a fourth shoulder joint driven pulley, 51, a fourth shoulder joint drive bevel gear, 52, a fourth shoulder joint driven bevel gear, 53. a first big arm connecting frame 54, a second shoulder joint rotating shaft 55, a fifth shoulder joint driven bevel gear 56, a second big arm connecting frame 57, a first elbow joint motor 58, a first elbow joint driving pulley 59, a first elbow joint driven pulley 60, a first elbow joint driving bevel gear 61, a first elbow joint driven bevel gear 62, a second elbow joint motor 63, a second elbow joint driving pulley 64, a second elbow joint driven pulley 65, a second elbow joint driving bevel gear 66, a second elbow joint driven bevel gear 67, a third elbow joint driven bevel gear 68, a first small arm connecting frame 69, an elbow joint rotating shaft 70, a hand 71, a camera 72 and a second small arm connecting frame.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

As shown in figures 1-9 for a particular embodiment of a nurse robot of the present invention,

comprises a movable base component, a front-back pitching component, a left-right swinging component, a thoracic cavity frame 25 and upper limb components arranged at the left side and the right side of the thoracic cavity frame 25;

the mobile base assembly comprises a chassis and four mecanum wheels 1 mounted at four angular positions of the chassis; a storage battery is placed on the underframe.

Referring to fig. 1 and 2, a pitching support 2 is fixedly mounted on the chassis, and the front-back pitching assembly comprises a pitching driving motor 3 mounted on the pitching support 2, a pitching driving pulley 4 connected to an output shaft of the pitching driving motor 3, a pitching driven pulley 5 connected to the pitching driving pulley 4 through a belt transmission link, a pitching worm 6 coaxially connected to the pitching driven pulley 5, a pitching worm wheel 7 engaged with the pitching worm, and a pitching shaft 8 fixedly connected to the pitching worm wheel 7.

Every single move support 2 is last to rotate through every single move axle 8 and is connected with first link 9, and every single move axle 8 passes through the bearing and installs on every single move support 2, install swing support 10 on the first link 9, the higher authority of first link 9 has constant head tank 91, and swing support 10 includes four mutual parallel arrangement's first backup pad 11, second backup pad 12, third backup pad 13 and fourth backup pad 14, refer to fig. 8, and the lower extreme of four backup pads has location strip 15, sets up constant head tank 91 to the exact position back through location strip 15 card, and the rethread bolt is fixed four backup pads together in first link 9.

Referring to fig. 3, the left-right swinging assembly comprises a swinging motor 16 mounted on a swinging bracket 10 through a motor bracket, a swinging driving pulley 17 connected to an output shaft of the swinging motor 16, a swinging driven pulley 18 connected with the swinging driving pulley 17 through a belt transmission, a swinging worm 19 coaxially connected with the swinging driven pulley 18, and a swinging shaft 21 fixed at the center of the swinging worm gear 20 and engaged with a swinging worm wheel 20 of the swinging worm 19; the swing bracket 10 is rotatably connected with a second connecting frame 22 through a swing shaft 21, and the swing shaft 21 is arranged on the swing bracket 10 through a bearing; the swing motor 16, the swing driving pulley 17, the swing driven pulley 18, the swing worm 19 and the swing worm wheel 20 are positioned in a space formed by the first support plate 11 and the second support plate 12. Wherein the rotation shafts of the pitch worm wheel 7 and the swing worm wheel 20 are perpendicular to each other.

A third connecting frame 23 is fixedly installed on the second connecting frame 22, a driver is installed in the third connecting frame 23, a fourth connecting frame 24 is fixed on the third connecting frame 23, referring to fig. 9, a mounting stop block 24 is arranged on the front and rear sides of the center of the upper end of the fourth connecting frame 24, and first butt-joint surfaces 242 inclined from the middle to the left and right sides are symmetrically arranged on the two sides of the mounting stop block 241; the thoracic cavity frame 25 is installed on the upper side of the fourth connecting frame 24, the lower side of the thoracic cavity frame 25 is a second butt surface 251 with the same inclination angle as the first butt surface 242, and the middle position of the lower side of the thoracic cavity frame 25 is installed between the two installation stoppers 241 and is fixed on the fourth connecting frame 24 through bolts. The second abutting surfaces 251 are disposed on the left and right sides of the mounting stopper 241.

Two upper limb assemblies are symmetrically arranged at the left side and the right side of the thoracic cavity frame 25, referring to fig. 1, the upper limb assemblies comprise: a shoulder joint assembly, a first large arm link 53, a second large arm link 56, an elbow joint assembly, a first small arm link 68, a second small arm link 73, and a hand 70. Referring to fig. 5, the shoulder joint assembly includes: a first shoulder joint motor 26 installed in the thoracic cage 25, a first driving gear 27 installed on an output shaft of the first shoulder joint motor 26, a first driven gear 28 engaged with the first driving gear 27, a first shoulder joint worm 29 coaxially connected with the first driven gear 28, a first shoulder joint worm wheel 30 engaged with the first shoulder joint worm 29, a first shoulder joint driving bevel gear 31 coaxially connected with the first shoulder joint worm wheel 30, a second shoulder joint motor 32 installed in the thoracic cage 25, a second driving gear not shown installed on an output shaft of the second shoulder joint motor 32, a second driven gear 34 engaged with the second driving gear, a second shoulder joint worm 35 coaxially connected with the second driven gear 34, a second shoulder joint worm wheel 36 engaged with the second shoulder joint worm wheel 35, a second shoulder driving bevel gear 37 coaxially connected with the second shoulder joint worm wheel 36, and a first shoulder joint bevel gear 38 both engaged with the first shoulder joint driving bevel gear 31 and the second shoulder joint driving bevel gear 37; the first shoulder joint drive bevel gear 31 and the second shoulder joint drive bevel gear 37 are relatively mounted on a first shoulder joint rotating shaft 39 through a bearing. And a first shoulder joint rotating shaft 39 is fixedly connected with the upper end and the lower end of the thoracic cavity frame 25, and the first shoulder joint driven bevel gear 38 is positioned between the first shoulder joint driving bevel gear 31 and the second shoulder joint driving bevel gear 37. The first shoulder joint connecting frame 40 is rotatably mounted on both ends of the first shoulder joint rotating shaft 39 through bearings.

Referring to fig. 5, the upper end of the thoracic frame 25 is formed to be in contact with the first shoulder joint connecting frame 40 by a shoulder joint installation slant 253 which is inclined downward from the center to the left and right sides, and the shoulder joint installation slant 253 is formed to be parallel to the second contact surface 251, which is formed to be similar to the shoulder structure of a human body. The center position of the upper end of the thoracic cavity frame 25 is a plane and is provided with a head assembly 41, and the head assembly 41 is provided with a camera 71 which is equivalent to human eyes.

Referring to fig. 6, the second shoulder joint connecting frame 42 is fixedly installed on the rotating shaft of the first shoulder joint driven bevel gear 38, and the shoulder joint assembly further includes: a third shoulder joint motor 43 installed in the second shoulder joint connecting frame 42, a third shoulder joint driving pulley 44 installed on an output shaft of the third shoulder joint motor 43, a third shoulder joint driven pulley 45 in belt driving connection with the third shoulder joint driving pulley 44, a third shoulder joint driving bevel gear 46 coaxially connected with the third shoulder joint driven pulley 45, a third shoulder joint driven bevel gear 47 engaged with the third shoulder joint driving bevel gear 46, a fourth shoulder joint motor 48 installed in the second shoulder joint connecting frame 42, a fourth shoulder joint driving pulley 49 installed on an output shaft of the fourth shoulder joint motor 48, a fourth shoulder joint driven pulley 50 in belt driving connection with the fourth shoulder joint driving pulley 49, a fourth shoulder joint driving bevel gear 51 coaxially connected with the fourth shoulder joint driven pulley 50, a fourth shoulder joint driven bevel gear 52 engaged with the fourth shoulder joint driving bevel gear 51, and a fifth shoulder joint driven bevel gear 55 engaged with the third shoulder joint driven bevel gear 47 and the fourth shoulder joint driven bevel gear 52.

The third shoulder joint drive bevel gear 46 and the fourth shoulder joint drive bevel gear 51 are arranged oppositely and are both mounted on the second shoulder joint rotating shaft 54 through bearings, and the fifth shoulder joint driven bevel gear 55 is clamped between the third shoulder joint driven bevel gear 47 and the fourth shoulder joint driven bevel gear 52. The first big arm connecting frame 53 is rotatably connected to the tail end of the second shoulder joint connecting frame 42, the second shoulder joint rotating shaft 54 is fixedly connected with the second shoulder joint connecting frame 42, the first big arm connecting frame 53 is rotatably installed on the second shoulder joint rotating shaft 54 through a bearing, and the second big arm connecting frame 56 is fixedly connected with the rotating shaft of the fifth shoulder joint driven bevel gear 55.

Referring to fig. 7, the driving portion of the wrist assembly is installed in the second large arm link 56, and the wrist assembly includes: a first elbow joint motor 57 mounted in the second upper arm link 56, a first elbow joint driving pulley 58 connected to an output shaft of the first elbow joint motor 57, a first elbow joint driven pulley 59 connected to the first elbow joint driving pulley 58 by a belt, a first elbow joint driving bevel gear 60 coaxially connected to the first elbow joint driven pulley 59, a first elbow joint driven bevel gear 61 engaged with the first elbow joint driving bevel gear 60, a second elbow joint motor 62 mounted in the second upper arm link 56, a second elbow joint driving pulley 63 connected to an output shaft of the second elbow joint motor 62, a second elbow joint driven pulley 64 connected to the second elbow joint driving pulley 63 by a belt, a second elbow joint driving bevel gear 65 coaxially connected to the second elbow joint driven pulley 64, a second elbow joint driven bevel gear 66 engaged with the second elbow joint driving bevel gear 65, and a third elbow joint driven bevel gear 67 engaged with both the first elbow joint driven pulley 61 and the second joint driven bevel gear 66; the lower end of the second big arm connecting frame 56 is rotatably connected with a first small arm connecting frame 68, the first elbow joint driven bevel gear 61 and the second elbow joint driven bevel gear 66 are rotatably installed on the same elbow joint rotating shaft 69, the elbow joint rotating shaft 69 is fixedly connected with the second big arm connecting frame 56, two ends of the elbow joint rotating shaft 69 are rotatably installed on the first small arm connecting frame 68 through bearings, and the third elbow joint driven bevel gear 67 is located between the first elbow joint driven bevel gear 61 and the second elbow joint driven bevel gear 66.

A second forearm connecting frame 72 is fixedly connected to a rotating shaft of the second elbow joint driven bevel gear 67, and a hand 70 is rotatably connected to the tail end of the second forearm connecting frame 72.

The drawings of the embodiment of the invention only show the mechanical transmission structure inside the nurse robot, and the artificial skin is required to be wrapped outside the mechanical transmission structure, so that the robot can be more gently contacted with a patient through the skin of a human body.

The embodiment of the invention can realize close-fitting accompanying for patients, constantly monitor the expression state and the demand of the patients, and feed back real-time videos and images shot by the camera 71 to a remote monitoring room. The embodiment of the invention can also provide medicine feeding and delivering services for the patient and carry the patient up.

The motion process of each joint of the invention is as follows:

the McNam wheel can drive the nurse robot to move, turn and the like. The front-back pitching assembly and the left-right swinging assembly drive the worm wheel to rotate through the worm and further drive the frame body fixedly connected with the worm wheel to rotate so as to respectively realize pitching and left-right swinging actions of the body.

The shoulder joint of the upper limb component adopts two differential mechanisms to realize the flexible movement of the shoulder joint of the robot, the working principle and the process of the differential movement are described by taking the shoulder joint component as an example, if the first shoulder joint driving bevel gear 31 and the second shoulder joint driving bevel gear 37 rotate at the same speed in the same direction, the first shoulder joint driven bevel gear 38 is driven to rotate around the rotating shaft of the first shoulder joint driving bevel gear, and the internal rotation and the external rotation of the big arm around the axis of the big arm are realized. If the first shoulder joint drive bevel gear 31 and the second shoulder joint drive bevel gear 37 move reversely at the same speed, the first shoulder joint driven bevel gear 38 is driven to rotate around the first shoulder joint rotating shaft 39, and the adduction and abduction of the large arm are realized. If the first shoulder joint drive bevel gear 31 and the second shoulder joint drive bevel gear 37 rotate in the same direction at different speeds or move in opposite directions at different speeds, the compound movement of internal rotation/external rotation and adduction/abduction is realized.

It should be understood that the above-described specific embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are also within the scope of the invention.

Claims

1. A nurse robot, characterized in that: the method comprises the following steps: the movable base component, the front-back pitching component, the left-right swinging component, the thoracic cavity frame (25) and the upper limb components arranged at the left side and the right side of the thoracic cavity frame (25); a pitching support (2) is fixedly mounted on the movable base component, and the front and back pitching component comprises a pitching driving motor (3) mounted on the pitching support (2), a pitching driving belt wheel (4) connected to an output shaft of the pitching driving motor (3), a pitching driven belt wheel (5) in transmission connection with the pitching driving belt wheel (4) through a belt, a pitching worm (6) coaxially connected with the pitching driven belt wheel (5), a pitching worm wheel (7) meshed with the pitching worm, and a pitching shaft (8) fixedly connected to the pitching worm wheel (7); the pitching assembly comprises a pitching support (2), a first connecting frame (9) is rotatably connected onto the pitching support (2) through a pitching shaft (8), the pitching shaft (8) is mounted onto the pitching support (2) through a bearing, a swinging support (10) is mounted onto the first connecting frame (9), the left-right swinging assembly comprises a swinging motor (16) mounted onto the swinging support (10) through a motor support, a swinging driving pulley (17) connected onto an output shaft of the swinging motor (16), a swinging driven pulley (18) connected with the swinging driving pulley (17) through belt transmission, a swinging worm (19) coaxially connected with the swinging driven pulley (18), and a swinging shaft (21) fixed at the center of the swinging worm (20) and meshed with the swinging worm (19); the swing support (10) is rotatably connected with a second connecting frame (22) through a swing shaft (21), and the swing shaft (21) is mounted on the swing support (10) through a bearing; the rotating shafts of the pitching worm gear (7) and the swinging worm gear (20) are vertical to each other; a third connecting frame (23) is fixedly arranged on the second connecting frame (22), a driver is arranged in the third connecting frame (23), a fourth connecting frame (24) is fixed on the third connecting frame (23), mounting stop blocks (241) are arranged on the front side and the rear side of the center of the upper end of the fourth connecting frame (24), and first butt-joint surfaces (242) which incline from the middle to the left side and the right side are symmetrically arranged on two sides of each mounting stop block (241); a thoracic cavity frame (25) is arranged on the upper side of the fourth connecting frame (24), a second butt joint surface (251) with the same inclination angle as the first butt joint surface (242) is arranged on the lower side of the thoracic cavity frame (25), the middle position of the lower side of the thoracic cavity frame (25) is arranged between the two mounting stop blocks (241) and is fixed on the fourth connecting frame (24) through a bolt; the two second abutting surfaces (251) are arranged at the left side and the right side of the mounting block (241).

2. The nurse robot as claimed in claim 1, wherein: the upper limbs subassembly includes: the device comprises a shoulder joint assembly, a first large arm connecting frame (53), a second large arm connecting frame (56), an elbow joint assembly, a first small arm connecting frame (68), a second small arm connecting frame (73) and a hand (70); the shoulder joint assembly includes: a first shoulder joint motor (26) arranged in a thoracic cavity frame (25), a first driving gear (27) arranged on an output shaft of the first shoulder joint motor (26), a first driven gear (28) meshed with the first driving gear (27), a first shoulder joint worm (29) coaxially connected with the first driven gear (28), a first shoulder joint worm wheel (30) meshed with the first shoulder joint worm (29), a first shoulder joint driving bevel gear (31) coaxially connected with the first shoulder joint worm wheel (30), a second shoulder joint motor (32) arranged in the thoracic cavity frame (25), a second driving gear arranged on an output shaft of the second shoulder joint motor (32), a second driven gear (34) meshed with the second driving gear, a second shoulder joint worm (35) coaxially connected with the second driven gear (34), a second shoulder joint worm wheel (36) meshed with the second shoulder joint worm wheel (35), a second shoulder joint gear (37) coaxially connected with the second shoulder joint worm wheel (36), a second shoulder joint bevel gear (37) meshed with the second shoulder joint worm wheel (37), a driving bevel gear (31) and a driving bevel gear (31); the first shoulder joint driving bevel gear (31) and the second shoulder joint driving bevel gear (37) are oppositely arranged on a first shoulder joint rotating shaft (39) through a bearing; a first shoulder joint rotating shaft (39) is fixedly connected with the upper end and the lower end of the thoracic cavity frame (25), and a first shoulder joint driven bevel gear (38) is positioned between the first shoulder joint driving bevel gear (31) and the second shoulder joint driving bevel gear (37); the first shoulder joint connecting frame (40) is rotatably arranged at two ends of the first shoulder joint rotating shaft (39) through bearings.

3. The nurse robot as claimed in claim 2, wherein: the surface of the upper end of the chest rack (25) for butting against the first shoulder joint connecting rack (40) is a shoulder joint mounting inclined surface (253) which is inclined downwards from the middle to the left and right sides, and the shoulder joint mounting inclined surface (253) is parallel to the second butting surface (251).

4. A nurse robot as claimed in claim 3, wherein: the second shoulder joint connecting frame (42) is fixedly arranged on a rotating shaft of the driven bevel gear (38) of the first shoulder joint, and the shoulder joint component further comprises: a third shoulder joint motor (43) arranged in a second shoulder joint connecting frame (42), a third shoulder joint driving pulley (44) arranged on an output shaft of the third shoulder joint motor (43), a third shoulder joint driven pulley (45) in belt transmission connection with the third shoulder joint driving pulley (44), a third shoulder joint driving bevel gear (46) coaxially connected with the third shoulder joint driven pulley (45), a third shoulder joint driven bevel gear (47) engaged with the third shoulder joint driving bevel gear (46), a fourth shoulder joint motor (48) arranged in the second shoulder joint connecting frame (42), a fourth shoulder joint driving pulley (49) arranged on an output shaft of the fourth shoulder joint motor (48), a fourth shoulder joint driven pulley (50) in belt transmission connection with the fourth shoulder joint driving pulley (49), a fourth shoulder joint driving bevel gear (51) coaxially connected with the fourth shoulder joint driven pulley (50), a fourth shoulder joint driving bevel gear (51) engaged with the fourth shoulder joint driving pulley (51), a fourth shoulder joint driven bevel gear (52) and a fifth shoulder joint driven bevel gear (47) engaged with the third shoulder joint driving pulley (44).

5. The nurse robot as claimed in claim 4, wherein: the third shoulder joint driving bevel gear (46) and the fourth shoulder joint driving bevel gear (51) are oppositely arranged and are both installed on a second shoulder joint rotating shaft (54) through bearings, and a fifth shoulder joint driven bevel gear (55) is clamped between the third shoulder joint driven bevel gear (47) and the fourth shoulder joint driven bevel gear (52); the first large arm connecting frame (53) is rotatably connected to the tail end of the second shoulder joint connecting frame (42), the third shoulder joint driven bevel gear (47) and the fourth shoulder joint driven bevel gear (52) are rotatably installed on a second shoulder joint rotating shaft (54) through bearings, the second shoulder joint rotating shaft (54) is fixedly connected with the second shoulder joint connecting frame (42), the first large arm connecting frame (53) is rotatably installed on the second shoulder joint rotating shaft (54) through bearings, and the second large arm connecting frame (56) is fixedly connected with a rotating shaft of the fifth shoulder joint driven bevel gear (55).

6. The nurse robot as claimed in claim 5, wherein: the elbow joint assembly includes: a first elbow joint motor (57) arranged in a second big arm connecting frame (56), a first elbow joint driving pulley (58) connected with an output shaft of the first elbow joint motor (57), a first elbow joint driven pulley (59) connected with the first elbow joint driving pulley (58) through a belt, a first elbow joint driving bevel gear (60) coaxially connected with the first elbow joint driven pulley (59), a first elbow joint driven bevel gear (61) meshed with the first elbow joint driving bevel gear (60), a second elbow joint motor (62) arranged in the second big arm connecting frame (56), a second elbow joint driving pulley (63) connected with an output shaft of the second elbow joint motor (62), a second elbow joint driven pulley (64) connected with the second elbow joint driving pulley (63) through a belt, a second elbow joint driving bevel gear (65) coaxially connected with the second elbow joint driven pulley (64), a second elbow joint driving bevel gear (66) meshed with the second elbow joint driving pulley (65), and a third elbow joint bevel gear (67); the lower extreme of the big arm of second even frame (56) rotates and is connected with even frame (68) of first forearm, and first elbow joint driven bevel gear (61) and second elbow joint driven bevel gear (66) rotate and install on same elbow joint pivot (69), and elbow joint pivot (69) link frame (56) fixed connection with the big arm of second, and the both ends of elbow joint pivot (69) are passed through the bearing and are rotated and install on even frame (68) of first forearm, third elbow joint driven bevel gear (67) are located between first elbow joint driven bevel gear (61) and second elbow joint driven bevel gear (66).

7. The nurse robot as claimed in claim 6, wherein: a second forearm connecting frame (72) is fixedly connected to a rotating shaft of the second elbow joint driven bevel gear (67), and the tail end of the second forearm connecting frame (72) is rotatably connected with a hand (70).

8. The nurse robot as claimed in claim 3, wherein: the center position of chest frame (25) upper end is the plane and installs head subassembly (41), has camera (71) on head subassembly (41).

9. The nurse robot as claimed in claim 1, wherein: the higher authority of first link (9) has constant head tank (91), swing support (10) include four mutual parallel arrangement's first backup pad (11), second backup pad (12), third backup pad (13) and fourth backup pad (14), and the lower extreme of four backup pads has location strip (15), sets up constant head tank (91) to the exact position back through location strip (15) card, and the rethread bolt is fixed four backup pads together in first link (9).